抬手动作+切换mediapipe模型
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terric
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@ -462,7 +462,6 @@ namespace OpenCVForUnityExample.DnnModel
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float[] landmarks_presence = new float[(39 - auxiliary_points_num)];
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results_col4_199_39x5.colRange(new OpenCVRange(4, 5)).get(0, 0, landmarks_presence);
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Mat results_col199_316_39x3 = results.rowRange(new OpenCVRange(199, 316 - (3 * auxiliary_points_num))).reshape(1, 39 - auxiliary_points_num);
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float[] landmarks_world = new float[(39 - auxiliary_points_num) * 3];
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results_col199_316_39x3.get(0, 0, landmarks_world);
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@ -1,5 +1,155 @@
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@ -100,7 +100,6 @@ public class CVEstimator : Singleton<CVEstimator>
|
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{
|
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DateTime startTime = DateTime.Now;
|
||||
Mat bgrMat = new Mat();
|
||||
|
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while (IsRunning)
|
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{
|
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Mat rgbaMat = MotionCaptureManager.Instance.RgbaMat;
|
||||
|
|
@ -112,15 +111,12 @@ public class CVEstimator : Singleton<CVEstimator>
|
|||
}
|
||||
Imgproc.cvtColor(rgbaMat, bgrMat, Imgproc.COLOR_RGBA2BGR);
|
||||
|
||||
if (!YogaManager.Instance.CurrentEstimator.TryGetROIRegionMat(rgbaMat, bgrMat, out List<float[]> voloResultBox))
|
||||
if (!YogaManager.Instance.CurrentEstimator.TryGetROIRegionMat(bgrMat, rgbaMat, out Mat result))
|
||||
{
|
||||
continue; //重新检测
|
||||
}
|
||||
|
||||
//更新人物框检测结果
|
||||
MotionCaptureManager.Instance.VoloResult = voloResultBox;
|
||||
|
||||
if (!YogaManager.Instance.CurrentEstimator.Esitmate(bgrMat, voloResultBox, out List<Point> points))
|
||||
if (!YogaManager.Instance.CurrentEstimator.Esitmate(bgrMat, rgbaMat, result, out List<Point> points))
|
||||
{
|
||||
Debug.LogWarning("Pose estimation failed. Re-Estimating.");
|
||||
continue; //重新检测
|
||||
|
|
|
|||
|
|
@ -37,9 +37,9 @@ public abstract class Estimator
|
|||
public abstract void DisposeModel();
|
||||
|
||||
//检测到的人体框 默认使用VOLO7
|
||||
public virtual bool TryGetROIRegionMat(Mat rgbaMat, Mat bgrMat, out List<float[]> voloResult)
|
||||
public virtual bool TryGetROIRegionMat(Mat bgrMat, Mat rgbaMat, out Mat result)
|
||||
{
|
||||
voloResult = null;
|
||||
result = null;
|
||||
if (_objectDetector == null)
|
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{
|
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Debug.LogWarning("ObjectDetector is not ready. ");
|
||||
|
|
@ -47,37 +47,8 @@ public abstract class Estimator
|
|||
}
|
||||
|
||||
//获取数据
|
||||
Mat results = _objectDetector.infer(bgrMat);
|
||||
var voloResultBox = new List<float[]>();
|
||||
bool hasValidObject = false;
|
||||
for (int i = results.rows() - 1; i >= 0; --i)
|
||||
{
|
||||
float[] box = new float[4];
|
||||
results.get(i, 0, box); //方框
|
||||
float[] conf = new float[1];
|
||||
results.get(i, 4, conf); //检测数据
|
||||
float[] cls = new float[1];
|
||||
results.get(i, 5, cls); //类别
|
||||
result = _objectDetector.infer(bgrMat);
|
||||
|
||||
if (!IsObjectValid(box, conf, cls, rgbaMat))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
hasValidObject = true;
|
||||
voloResultBox.Clear();
|
||||
voloResultBox.Add(box);
|
||||
voloResultBox.Add(conf);
|
||||
voloResultBox.Add(cls);
|
||||
break;
|
||||
}
|
||||
|
||||
if (!hasValidObject) //没有检测到人体
|
||||
{
|
||||
Debug.Log("No person block found. Re-Estimation.");
|
||||
return false; //重新检测
|
||||
}
|
||||
|
||||
voloResult = voloResultBox;
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
@ -128,7 +99,7 @@ public abstract class Estimator
|
|||
Imgproc.putText(image, label, new Point(left, top), Imgproc.FONT_HERSHEY_SIMPLEX, 0.5, Scalar.all(255), 1, Imgproc.LINE_AA);
|
||||
}
|
||||
|
||||
public abstract bool Esitmate(Mat bgrMat, List<float[]> voloResultBox, out List<Point> points);
|
||||
public abstract bool Esitmate(Mat bgrMat, Mat rgbaMat, Mat result, out List<Point> points);
|
||||
|
||||
public virtual void Check(ref Mat img) { }
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,21 +1,148 @@
|
|||
using OpenCVForUnity.CoreModule;
|
||||
using OpenCVForUnity.ImgprocModule;
|
||||
using OpenCVForUnity.UnityUtils;
|
||||
using OpenCVForUnityExample.DnnModel;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEngine.Experimental.GlobalIllumination;
|
||||
using static UnityEngine.Networking.UnityWebRequest;
|
||||
using OpenCVRange = OpenCVForUnity.CoreModule.Range;
|
||||
|
||||
public class MediaPipeEstimator : Estimator
|
||||
{
|
||||
private MediaPipePersonDetector _personDetector;
|
||||
private MediaPipePoseEstimator _poseEstimator;
|
||||
private bool _mask = false;
|
||||
public override void InitModel()
|
||||
{
|
||||
throw new NotImplementedException();
|
||||
var personDetectModelPath = Utils.getFilePath(YogaConfig.MODEL_PATHS[ModelType.MediapipePersonDetect]);
|
||||
if (string.IsNullOrEmpty(personDetectModelPath))
|
||||
{
|
||||
Debug.LogError(YogaConfig.MODEL_PATHS[ModelType.MediapipePersonDetect] + " is not loaded. Please read “StreamingAssets/OpenCVForUnity/dnn/setup_dnn_module.pdf” to make the necessary setup.");
|
||||
}
|
||||
else
|
||||
{
|
||||
_personDetector = new MediaPipePersonDetector(personDetectModelPath, 0.3f, 0.6f, 5000);
|
||||
}
|
||||
|
||||
var poseModelPath = Utils.getFilePath(YogaConfig.MODEL_PATHS[ModelType.MediapipePose]);
|
||||
if (string.IsNullOrEmpty(poseModelPath))
|
||||
{
|
||||
Debug.LogError(YogaConfig.MODEL_PATHS[ModelType.MediapipePose] + " is not loaded. Please read “StreamingAssets/OpenCVForUnity/dnn/setup_dnn_module.pdf” to make the necessary setup.");
|
||||
}
|
||||
else
|
||||
{
|
||||
_poseEstimator = new MediaPipePoseEstimator(poseModelPath, 0.9f);
|
||||
}
|
||||
}
|
||||
|
||||
public override bool Esitmate(Mat bgrMat, List<float[]> voloResultBox, out List<Point> points)
|
||||
public override void Check(ref Mat img)
|
||||
{
|
||||
throw new NotImplementedException();
|
||||
if (_personDetector == null || _poseEstimator == null)
|
||||
{
|
||||
Imgproc.putText(img, "model file is not loaded.", new Point(5, img.rows() - 30), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
|
||||
Imgproc.putText(img, "Please read console message.", new Point(5, img.rows() - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
|
||||
}
|
||||
}
|
||||
|
||||
public override bool TryGetROIRegionMat(Mat bgrMat, Mat rgbaMat, out Mat result)
|
||||
{
|
||||
result = _personDetector.infer(bgrMat);
|
||||
|
||||
if (result.rows() == 0)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
public override bool Esitmate(Mat bgrMat, Mat rgbaMat, Mat result, out List<Point> points)
|
||||
{
|
||||
points = null;
|
||||
for (int i = 0; i < result.rows(); ++i)
|
||||
{
|
||||
List<Mat> results = _poseEstimator.infer(bgrMat, result.row(i));
|
||||
|
||||
//_poseEstimator.visualize(rgbaMat, results[0], false, false);
|
||||
|
||||
points = GetKeypoints(results[0]);
|
||||
if (points != null && YogaManager.Instance.ActionCheckPoints(points))
|
||||
{
|
||||
return true;
|
||||
}
|
||||
}
|
||||
//没有检测到人体
|
||||
return false;
|
||||
}
|
||||
|
||||
private List<Point> GetKeypoints(Mat result)
|
||||
{
|
||||
var retVal = new List<Point>();
|
||||
if (result.empty() || result.rows() < 317)
|
||||
return retVal;
|
||||
|
||||
//获取关键点
|
||||
float[] conf = new float[1];
|
||||
result.get(316, 0, conf);
|
||||
float[] bbox = new float[4];
|
||||
result.get(0, 0, bbox);
|
||||
|
||||
int auxiliary_points_num = 6;
|
||||
Mat results_col4_199_39x5 = result.rowRange(new OpenCVRange(4, 199 - (5 * auxiliary_points_num))).reshape(1, 39 - auxiliary_points_num);
|
||||
float[] landmarks_screen_xy = new float[(39 - auxiliary_points_num) * 2];
|
||||
results_col4_199_39x5.colRange(new OpenCVRange(0, 2)).get(0, 0, landmarks_screen_xy);
|
||||
|
||||
float[] landmarks_screen_xyz = new float[(39 - auxiliary_points_num) * 3];
|
||||
results_col4_199_39x5.colRange(new OpenCVRange(0, 3)).get(0, 0, landmarks_screen_xyz);
|
||||
|
||||
// # only show visible keypoints which presence bigger than 0.8
|
||||
float[] landmarks_presence = new float[(39 - auxiliary_points_num)];
|
||||
results_col4_199_39x5.colRange(new OpenCVRange(4, 5)).get(0, 0, landmarks_presence);
|
||||
|
||||
|
||||
Mat results_col199_316_39x3 = result.rowRange(new OpenCVRange(199, 316 - (3 * auxiliary_points_num))).reshape(1, 39 - auxiliary_points_num);
|
||||
float[] landmarks_world = new float[(39 - auxiliary_points_num) * 3];
|
||||
results_col199_316_39x3.get(0, 0, landmarks_world);
|
||||
|
||||
|
||||
|
||||
//将关键点映射到现有的open pose关键点上
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 0)); //Nose
|
||||
retVal.Add(new Point(-1, -1)); //Neck
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 11)); //LShoulder
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 13)); //LElbow
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 15)); //LWrist
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 12)); //RShoulder
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 14)); //RElbow
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 16)); //RWrist
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 23)); //LHip
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 25)); //LKnee
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 27)); //LAnkle
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 24)); //RHip
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 26)); //RKnee
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 28)); //RAnkle
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 2)); //LEye
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 5)); //REye
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 7)); //LEar
|
||||
retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 8)); //REar
|
||||
retVal.Add(new Point(-1, -1)); //Background
|
||||
|
||||
return retVal;
|
||||
}
|
||||
|
||||
private Point GetPointData(float[] landmarks, float[] _landmarks_presence, int index)
|
||||
{
|
||||
if (_landmarks_presence[index] < 0.8f)
|
||||
return null;
|
||||
|
||||
index = index * 2;
|
||||
return new Point(landmarks[index], landmarks[index + 1]);
|
||||
}
|
||||
|
||||
public override void DisposeModel()
|
||||
{
|
||||
throw new NotImplementedException();
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -6,10 +6,11 @@ using System;
|
|||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using Yoga;
|
||||
using static UnityEngine.Networking.UnityWebRequest;
|
||||
|
||||
public class OpenPoseEsimater : Estimator
|
||||
{
|
||||
KeypointsModel _openPoseModel;
|
||||
KeypointsModel _openPoseModel;
|
||||
private Net _net;
|
||||
|
||||
private double threshold = 0.5;
|
||||
|
|
@ -39,8 +40,42 @@ public class OpenPoseEsimater : Estimator
|
|||
_net.Dispose();
|
||||
}
|
||||
|
||||
public override bool Esitmate(Mat bgrMat, List<float[]> voloResultBox, out List<Point> points)
|
||||
public override bool Esitmate(Mat bgrMat, Mat rgbaMat, Mat results, out List<Point> points)
|
||||
{
|
||||
var voloResultBox = new List<float[]>();
|
||||
points = null;
|
||||
bool hasValidObject = false;
|
||||
|
||||
for (int i = results.rows() - 1; i >= 0; --i)
|
||||
{
|
||||
float[] box = new float[4];
|
||||
results.get(i, 0, box); //方框
|
||||
float[] conf = new float[1];
|
||||
results.get(i, 4, conf); //检测数据
|
||||
float[] cls = new float[1];
|
||||
results.get(i, 5, cls); //类别
|
||||
|
||||
if (!IsObjectValid(box, conf, cls, rgbaMat))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
hasValidObject = true;
|
||||
voloResultBox.Clear();
|
||||
voloResultBox.Add(box);
|
||||
voloResultBox.Add(conf);
|
||||
voloResultBox.Add(cls);
|
||||
break;
|
||||
}
|
||||
|
||||
if (!hasValidObject) //没有检测到人体
|
||||
{
|
||||
Debug.Log("No person block found. Re-Estimation.");
|
||||
return false; //重新检测
|
||||
}
|
||||
|
||||
//更新人物框检测结果
|
||||
MotionCaptureManager.Instance.VoloResult = voloResultBox;
|
||||
|
||||
points = null;
|
||||
|
||||
if (_openPoseModel == null)
|
||||
|
|
|
|||
|
|
@ -1,11 +1,13 @@
|
|||
using OpenCVForUnity.CoreModule;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class HandsUp : PoseBase
|
||||
{
|
||||
public override bool CheckPose(List<Point> points)
|
||||
{
|
||||
// 必须包含 Neck 和 LEar 和 Neck 的点位
|
||||
// 必须包含 "Nose", "RShoulder", "LShoulder", "RElbow", "LElbow" 点位
|
||||
if (!YogaManager.Instance.ActionCheckPoints(points))
|
||||
return false;
|
||||
|
||||
|
|
@ -13,6 +15,21 @@ public class HandsUp : PoseBase
|
|||
if (!YogaManager.Instance.ActionCheckPoints(basePoint))
|
||||
return false;
|
||||
|
||||
return false;
|
||||
|
||||
var rArmVector = ("RElbow".vector(points) - "RShoulder".vector(points)).normalized;
|
||||
var lArmVector = ("LElbow".vector(points) - "LShoulder".vector(points)).normalized;
|
||||
|
||||
var rArmBaseVector = ("RElbow".vector(basePoint) - "RShoulder".vector(basePoint)).normalized;
|
||||
var lArmBaseVector = ("LElbow".vector(basePoint) - "LShoulder".vector(basePoint)).normalized;
|
||||
|
||||
var angleR = Vector3.Angle(rArmVector, rArmBaseVector);
|
||||
var angleL = Vector3.Angle(lArmVector, lArmBaseVector);
|
||||
|
||||
Debug.LogWarning("angleR:" + angleR + " angleL:" + angleL);
|
||||
|
||||
if (angleR < 10 || angleL < 10)
|
||||
return false;
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
|
@ -61,10 +61,16 @@ namespace Yoga
|
|||
base.Init();
|
||||
|
||||
_webCamTextureToMatHelper = gameObject.GetComponent<WebCamTextureToMatHelper>();
|
||||
|
||||
#if UNITY_ANDROID && !UNITY_EDITOR
|
||||
// Avoids the front camera low light issue that occurs in only some Android devices (e.g. Google Pixel, Pixel2).
|
||||
webCamTextureToMatHelper.avoidAndroidFrontCameraLowLightIssue = true;
|
||||
#endif
|
||||
|
||||
_webCamTextureToMatHelper.Initialize();
|
||||
|
||||
UIManager.Instance.LoadReset();
|
||||
|
||||
|
||||
if (YogaManager.Instance.Action == null)
|
||||
YogaManager.Instance.InitData();
|
||||
|
||||
|
|
@ -78,7 +84,7 @@ namespace Yoga
|
|||
case ModelType.OpenPose:
|
||||
YogaManager.Instance.CurrentEstimator = new OpenPoseEsimater();
|
||||
break;
|
||||
case ModelType.Mediapipe:
|
||||
case ModelType.MediapipePose:
|
||||
YogaManager.Instance.CurrentEstimator = new MediaPipeEstimator();
|
||||
break;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -57,6 +57,8 @@ public static class YogaConfig
|
|||
public static readonly Dictionary<ModelType, string> MODEL_PATHS = new Dictionary<ModelType, string>()
|
||||
{
|
||||
{ModelType.OpenPose,"OpenCVForUnity/dnn/lightweight_pose_estimation_201912.onnx" },
|
||||
{ModelType.MediapipePersonDetect,"OpenCVForUnity/dnn/person_detection_mediapipe_2023mar.onnx" },
|
||||
{ModelType.MediapipePose,"OpenCVForUnity/dnn/pose_estimation_mediapipe_2023mar.onnx" },
|
||||
//{"","" },
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -13,12 +13,12 @@ public class YogaDataLoader
|
|||
#if UNITY_EDITOR
|
||||
data[-1] = new YogaData()
|
||||
{
|
||||
VideoPath = "Video/Action2",
|
||||
Action = AvatarAction.Nod,
|
||||
ModelType = ModelType.OpenPose,
|
||||
VideoPath = "Video/Action3",
|
||||
Action = AvatarAction.HandsUp,
|
||||
ModelType = ModelType.MediapipePose,
|
||||
MaxActionCount = 1000,
|
||||
TotalSeconds = 20.0f,
|
||||
MustPoints = new List<string>() { "Nose", "REye", "LEye", "Neck" },
|
||||
MustPoints = new List<string>() { "Nose", "RShoulder", "LShoulder", "RElbow", "LElbow" },
|
||||
//AnyPoints = new List<string>() { "RWrist", "LWrist" }
|
||||
};
|
||||
#endif
|
||||
|
|
@ -44,10 +44,10 @@ public class YogaDataLoader
|
|||
{
|
||||
VideoPath = "Video/Action3",
|
||||
Action = AvatarAction.HandsUp,
|
||||
ModelType = ModelType.OpenPose,
|
||||
ModelType = ModelType.MediapipePose,
|
||||
MaxActionCount = 4,
|
||||
TotalSeconds = 12.66f,
|
||||
MustPoints = new List<string>() { "Nose", "RShoulder", "LShoulder", "RightWrist" }
|
||||
MustPoints = new List<string>() { "Nose", "RShoulder", "LShoulder", "RElbow", "LElbow" }
|
||||
};
|
||||
|
||||
if (data.ContainsKey(index))
|
||||
|
|
@ -76,6 +76,7 @@ public enum ModelType
|
|||
{
|
||||
OpenPose,
|
||||
YoloV7,
|
||||
Mediapipe,
|
||||
MediapipePose,
|
||||
MediapipePersonDetect,
|
||||
//,
|
||||
}
|
||||
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Loading…
Reference in New Issue